KR100412650B1 - Panel clamping device of variety type vehicle - Google Patents

Abstract

The present invention relates to a multi-vehicle panel holding device that can be selected by driving a plurality of clamps or fingers provided in accordance with the shape of the panel by a single cylinder, can reduce the installation space, and simplify the components. According to an aspect of the present invention, there is provided an apparatus for holding a multi-vehicle panel of a vehicle production line, comprising: a control unit having panel information on the multi-vehicle model and generating a locator selection control signal and a panel grip control signal corresponding to the corresponding panel information; A first actuator driven to select a locator corresponding to the panel information according to an input of a locator selection control signal supplied from the controller; A second actuator for driving a corresponding locator according to an input of a panel grip control signal supplied from the controller; A panel gripping part having a plurality of locators corresponding to the multi-vehicle panel and driving the locator corresponding to the panel information among a plurality of locators corresponding to the multi-vehicle panel in association with driving of the first and second actuators It is configured to include.

Description

Multi-Class Panel Gripping Device {PANEL CLAMPING DEVICE OF VARIETY TYPE VEHICLE}

The present invention relates to a panel gripping apparatus, and more particularly to a multi-vehicle panel gripping apparatus.

In general, the panel gripping method used in the vehicle production line includes a mechanical gripping device using a clamp or a finger, and an adsorption gripping device using a vacuum. In the case of a mechanical gripping device, a panel whose surface is not formed on the same plane as a door panel has a relatively small area of the gripping area, so that it is difficult to securely grasp, and the posture of the door panel changes after gripping to set it in the right position. It is difficult.

Referring to Figures 1 and 3 will be described the operation of the multi-vehicle panel gripping apparatus according to the prior art.

As shown in FIG. 1, the jig has a rotating cylinder 10, a clamp cylinder 12, a clamp 14, a locator 16, and the like. Reference numerals 18 and 20 denote first hinges and second hinges.

First, in the initial state of the multi-vehicle panel gripping apparatus according to the prior art, all the jigs are released by the clamp 14 by the reverse of the clamp cylinder 12 and the reverse rotation by the reverse of the rotating cylinder 10.

In the case where it is desired to handle the panel 22 of the "A" model, the jig of the "A" model is advanced by advancing the cylinder 10 for rotation. In this case, as shown in FIG. 2, when the clamp cylinder 12 is driven, the clamp 14 approaches the panel 22. Next, the clamp 14 is locked by the advance of the clamp cylinder 12, and the panel 22 gripped between the clamp 14 and the locator 16 is conveyed.

As described above, in the case of a handling jig attached to a general robot arm or an overhead head loader (a kind of transportation device) and used to grip a panel, a variety of shapes having different shapes are used in a multi-vehicle production line. In order to grip the panel, several jigs must be installed at the same position, and the structure must be rotated to avoid interference between the panel and the jig, which increases the complexity and weight of the structure.

That is, for example, as shown in FIG. 3, three types of jigs should be installed for each reference position (MCP: Master Control Point).

When using the above method, the multi-vehicle panel holding device according to the prior art had to use a clamp or a finger having a shape suitable for each change of the model, and a separate cylinder for driving each clamp or finger was required. .

As the number of cylinders increases, manufacturing costs increase and the installation is concentrated in a narrow space, resulting in poor maintenance. In the case of vehicle replacement, a shut down period for parts replacement is required, and the weight increases, resulting in a slow speed. There was a problem of being lowered.

An object of the present invention is to provide a multi-class panel gripping apparatus which can be selected by driving a plurality of clamps or fingers provided in accordance with the shape of the panel with a single cylinder.

Another object of the present invention is to provide a multi-vehicle panel gripping apparatus capable of reducing the installation space of the multi-vehicle panel gripping apparatus and simplifying components.

In order to achieve the above objects, the present invention provides a device for holding a multi-vehicle panel of a vehicle production line, the panel having a panel information for the multi-vehicle, and the panel selection control signal and the panel grip control corresponding to the corresponding panel information A control unit for generating a signal; A first actuator driven to select a locator corresponding to the panel information according to an input of a locator selection control signal supplied from the controller; A second actuator for driving a corresponding locator according to an input of a panel grip control signal supplied from the controller; A panel gripping part having a plurality of locators corresponding to the multi-vehicle panel and driving the locator corresponding to the panel information among a plurality of locators corresponding to the multi-vehicle panel in association with driving of the first and second actuators It is characterized by including the configuration.

1 is a view showing the configuration of a multi-vehicle panel holding device according to the prior art.

FIG. 2 is a view illustrating a state in which a panel is gripped by driving the multi-vehicle panel gripping apparatus shown in FIG. 1.

3 is a view showing a panel grip position applied to a variety of models according to the prior art.

4 is a view showing a mounting position of the multi-vehicle panel holding device according to an embodiment of the present invention.

5 is a view showing the configuration of a multi-vehicle panel holding device according to an embodiment of the present invention.

6 to 8 are views showing the configuration of a multi-vehicle panel holding device according to an embodiment of the present invention.

9 is a view showing a connection relationship between the clamp and the locator of the multi-vehicle panel holding device according to an embodiment of the present invention.

10 is a view showing a connection relationship between the locator and the elastic portion of the multi-vehicle panel holding device according to an embodiment of the present invention.

FIG. 11 is a view illustrating a state in which a corresponding locator is operated according to driving of the multi-vehicle panel holding device according to an embodiment of the present invention.

12 is a flowchart illustrating a driving sequence of the multi-vehicle panel holding device according to the embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. While many specific details, such as the following description and the annexed drawings, are shown to provide a more general understanding of the invention, these specific details are illustrated for the purpose of explanation of the invention and are not meant to limit the invention thereto. And a detailed description of known functions and configurations that may unnecessarily obscure the subject matter of the present invention will be omitted.

4 to 12, a configuration of a multi-vehicle panel holding device according to an embodiment of the present invention will be described.

An embodiment of the present invention, in the device for holding a multi-vehicle panel of the vehicle production line, comprising a control unit 100, a first actuator 110, a second actuator 120, the panel holding unit 130 .

The control unit 100 has panel information on the multi-vehicle model and controls the overall operation related to the control of the multi-vehicle panel gripping apparatus according to the embodiment of the present invention. In particular, it functions to generate a locator selection control signal and a panel grip control signal corresponding to the corresponding panel information. The controller 100 is configured of a kind of microprocessor. In addition, the controller 100 includes a separate memory unit, and stores various panel information according to the vehicle type in advance in the memory unit. The controller 100 may utilize a server or a general personal computer in the process line.

The first actuator 110 is driven to select a locator corresponding to the panel information according to the input of the locator selection control signal supplied from the controller 100. The first actuator 110 is configured as a servo motor having a spindle that is rotated.

The second actuator 120 drives the corresponding locator according to the input of the panel gripping control signal supplied from the controller 100. The second actuator 120 is composed of a hydraulic cylinder having a rod 122 reciprocating.

The panel gripper 130 has a plurality of locators corresponding to the multi-vehicle panel, and interlocks with the driving of the first and second actuators 120 to locate locators corresponding to panel information among the plurality of locators corresponding to the multi-vehicle panel. It functions to drive.

The panel gripping portion 130 includes body frames 131 and 132, a first shaft 133, a clamp 134, a second shaft 135, and a locator.

As illustrated in FIG. 5, the body frames 131 and 132 are divided into a main frame 131 and an auxiliary frame 132, and the main frame 131 is equipped with a second actuator 120 and an auxiliary frame. The first actuator 110 is mounted to 132. Coupling of the main frame 131 and the auxiliary frame 132 is fastened with bolts in a state in which the auxiliary frame 132 is placed on the bottom surface of the main frame 131.

The first shaft 133 is composed of a ball screw that is rotated in conjunction with the drive of the first actuator 110 mounted on one side of the auxiliary frame (132).

The clamp 134 is coupled to the rotational movement of the first shaft 133 so as to slide in the longitudinal direction on the axis of the first shaft 133. As the clamp 134 is moved on the shaft of the first shaft 133 and coupled with the corresponding locator, the clamp 134 is rotated together with the coupled locator during the rotation of the second shaft 135 and serves to push the locator. In the embodiment of the present invention, the clamp 134 functions as a kind of clutch driven to rotate only the connected locator.

The second shaft 135 is a cylindrical shaft in which the first shaft 133 is inserted and axially coupled in the longitudinal direction and rotates in association with the driving of the second actuator 120. The second shaft 135 has a groove formed in the longitudinal direction such that the clamp 134 protrudes.

The locator is axially coupled to the second shaft 135 and provided with a corresponding number to correspond to the multi-vehicle panel. In an embodiment of the present invention, the number of locators is set to five so as to correspond to the five vehicle types.

Here, each locator includes: a body plate 140 having a mounting hole 142 into which the second shaft 135 is fitted and axially coupled; A clamp groove 144 formed on the upper circumferential surface of the mounting hole 142 to which the clamp 134 is moved on the axis of the first shaft 133 and coupled; It is configured to include a locator mounting portion 146 is formed on the upper portion of the body plate 140 is mounted locator corresponding to the multi-vehicle panel. Reference numeral 147 denotes a bushing coupled to the mounting hole 142, and reference numeral 149 is a weight plate.

The panel gripper 130 further includes a power transmission unit 150.

The power transmission unit 150 includes a first pulley 152 which rotates in association with driving of the first actuator 110 in a state of being coupled to the spindle of the first actuator 110; A second pulley 154 coupled to the end of the first shaft 133 and rotating; The driving belt 156 is connected between the first pulley 152 and the second pulley 154 to transfer the power generated from the first actuator 110 to the first shaft 133. Reference numeral 158 denotes a cover protecting the drive belt 156.

The panel gripping portion 130 applies a predetermined elastic force toward the plurality of locators in a state in which a plurality of locators are axially coupled on the second shaft 135 so that the plurality of locators are axially coupled to the second shaft 135. It further comprises a position adjusting unit 160 to maintain the state.

The position adjusting unit 160 includes a housing 162, an elastic support block 164, an elastic unit 166, and a guide unit 168.

The housing 162 is mounted such that one end of the housing 162 contacts the plurality of locators under the state in which the plurality of locators are axially coupled on the second shaft 135. The shape of the housing 162 is formed in a state where one end of the cylinder is blocked. The blocked portion of the housing 162 is made larger than the diameter of the remaining portion. A female screw portion is formed inside the exploded portion of the housing 162, and the bolt 170 is fastened in a state where the guide portion 168 is coupled.

The elastic support block 164 is coupled to the body frames 131 and 132 in a horizontal direction orthogonal to the mounting direction of the first shaft 133 to which the locator is coupled. The elastic support block 164 is formed of a rectangular parallelepiped and has a hole into which the outer diameter of the housing 162 is fitted.

The elastic portion 166 is mounted between the housing 162 and the elastic support block 164, and is composed of a compression coil spring that provides an elastic force set in the housing 162 in a state fitted to the outer peripheral surface of the housing 162. The elastic portion 166 serves to fix the locator horizontally.

The guide part 168 is inserted into a hole formed in the elastic support block 164, and functions to guide the longitudinal movement of the housing 162 while the other end of the housing 162 is fitted to the guide part 168, respectively. .

Reference numeral 148 of FIG. 5 denotes a portion formed under the body plate constituting each locator and in contact with the housing 162.

An operation of the multi-vehicle panel gripping apparatus according to the embodiment of the present invention will be described with reference to FIGS. 4 to 12.

The panel gripping operation according to an embodiment of the present invention is configured to select a plurality of locators installed in one actuator to hold a multi-vehicle panel, and uses a method of driving the selected locators with a separate actuator.

First, referring to an operation in which a vehicle model is transmitted from the controller 100 and a corresponding locator swings, the following operation sequence is performed.

As shown in FIG. 12, the locator selection control signal is supplied from the controller 100 to the first actuator 110 (servo motor).

At this time, the first actuator 110 is rotated in response to the input of the locator selection control signal supplied from the controller 100.

The first pulley 152 is rotated according to the rotation of the first actuator 110, and the second pulley 154 is rotated as the driving belt 156 connected to the first pulley 152 is interlocked and rotated.

That is, power is transmitted to the first pulley 152, the drive belt 156, and the second pulley 154 according to the rotation of the first actuator 110, and the first shaft 133 is rotated.

When the first shaft 133 is rotated, the clamp 134 axially coupled to the first shaft 133 and linearly moved is transferred in the axial direction of the first shaft 133. The feeding distance of the clamp 134 is adjusted according to the value of the locator selection control signal supplied from the controller 100 to the first actuator 110. That is, the conveyance distance of the clamp 134 is adjusted according to the rotation value of the first actuator 110.

The clamp 134 is moved in the longitudinal direction in conjunction with the rotation of the first shaft 133, and selects the locator corresponding to the locator selection control signal.

Here, the selection of the locator refers to a state in which the clamp 134 is transferred in the axial direction of the first shaft 133 and coupled to the clamp groove 144 of the corresponding locator.

In this state, the panel gripping control signal is supplied from the controller 100 to the second actuator 120, and the second actuator 120 is driven.

The rod 122 is extended as the second actuator 120 is driven, and the second shaft 135 connected to the end of the rod 122 is rotated.

At this time, the locator connected to the clamp 134 is rotated in accordance with the rotation of the second shaft 135 (step ⑥).

Through such an operation, the multi-vehicle panel can be gripped by selecting and driving only a locator corresponding to the panel of the vehicle model transmitted from the controller 100.

As described above, the multi-vehicle panel gripping apparatus according to the present invention can be automatically responded even when the vehicle is replaced once installed, thus eliminating the need for downtime for jig replacement, and simplifying the number of jigs and components. Its operation is simplified and the gripping efficiency of the panel can be improved to improve line utilization and productivity.

In addition, it is possible to significantly reduce the weight according to the reduction in the number of cylinders, to reduce the cost of the multi-vehicle panel holding device, and to reduce the time required for changing the model and the cost of the additional budget required.

Claims (8)

In the device for holding a multi-vehicle panel of the vehicle production line, A controller having panel information on the multi-vehicle models and generating a locator selection control signal and a panel grip control signal corresponding to the corresponding panel information; A first actuator driven to select a locator corresponding to the panel information according to an input of a locator selection control signal supplied from the controller; A second actuator for driving a corresponding locator according to an input of a panel grip control signal supplied from the controller; A panel gripping part having a plurality of locators corresponding to the multi-vehicle panel and driving the locator corresponding to the panel information among a plurality of locators corresponding to the multi-vehicle panel in association with driving of the first and second actuators Multi-vehicle panel holding device, characterized in that comprising a. The multi-vehicle panel gripping apparatus according to claim 1, wherein the first actuator comprises a servo motor having a rotating spindle. The multi-vehicle panel holding device according to claim 1, wherein the second actuator comprises a hydraulic cylinder having a rod reciprocating. The method of claim 1, wherein the panel holding portion A body frame; A first shaft rotated in association with driving of the first actuator mounted on one side of the body frame; A clamp coupled to a rotational movement of the first shaft to be linearly moved on an axis of the first shaft; A second shaft inserted into the first shaft in the longitudinal direction and axially coupled, the second shaft being rotated in association with the driving of the second actuator; And a plurality of locators axially coupled to the second shaft and configured to correspond to the multi-vehicle panel. The method of claim 4, wherein the panel holding portion A first pulley which rotates in association with driving of the first actuator in a state of being coupled to the spindle of the first actuator; A second pulley coupled to and rotated at an end of the first shaft; And a power transmission unit connected between the first pulley and the second pulley and configured to include a driving belt configured to transfer power generated from the first actuator to the first shaft. . The method of claim 4, wherein the panel holding portion And a position adjusting unit configured to maintain a state in which the plurality of locators are axially coupled to the second shaft by applying a predetermined elastic force to the plurality of locator side directions while the plurality of locators are axially coupled to the second shaft. Multi-vehicle panel holding device, characterized in that configured to. The method of claim 6, wherein the position adjusting unit A cylindrical housing mounted at one end of the plurality of locators in contact with the plurality of locators while the plurality of locators are axially coupled on the second shaft; An elastic support block each having a hole into which the housing is fitted; An elastic part mounted between the housing and the elastic support block and providing an elastic force set to the housing in a state of being fitted to an outer circumferential surface of the housing; And a guide part which is fastened in the state where the other end of the housing is fitted into the hole formed in the elastic support block to guide the movement of the housing. 5. The apparatus of claim 4, wherein each locator is A body plate having a mounting hole into which the second shaft is fitted and axially coupled; A clamp groove formed in an upper circumferential surface of the mounting hole, the clamp groove being coupled to and moved on the first shaft axis; And a locator mounting portion formed on an upper portion of the body plate to mount a corresponding locator so as to correspond to the multi-vehicle panel.